A robot for detecting defects in pressure pipelines under non-stop water supply conditions

Abstract

This utility model relates to the field of defect detection robot technology, and discloses a defect detection robot for pressure pipelines operating without interrupting water supply. The robot includes a sealing body, a propulsion mechanism mounted on the right side of the sealing body for propelling the sealing body, and a cleaning mechanism mounted on the right side of the sealing body for cleaning the inner wall of the pipeline. The propulsion mechanism includes a paddle mounted on the right side of the sealing body, and five filter plates equidistantly mounted on the left side of the paddle. Each filter plate has a fixed plate fixedly connected to its left and right sides. In this utility model, during pipeline inspection, a motor is started via a traction cable. The motor output shaft drives a rotating rod to rotate, causing the paddle to move in a circular motion and propel the sealing body forward within the pipeline. Water passes through the filter plates and enters the outer casing. The filter plates intercept impurities, preventing them from entangled with the paddle. The filter plates are fixed by fixed plates, nuts, and bolts, facilitating disassembly and cleaning.

Description

Technical Field

[0001] This utility model relates to the field of defect detection robot technology, and in particular to a defect detection robot for pressure pipelines operating under non-stop water supply conditions. Background Technology

[0002] Pipeline defect detection robot is an intelligent inspection device designed specifically for various tubular facilities such as pressure pipelines and drainage pipelines. Equipped with multiple sensors and drive mechanisms, it can replace manual entry into the pipeline and identify defects such as corrosion, cracks, and leaks through non-destructive testing technology, and output quantitative inspection reports. Its main structure includes a drive system, a sealing structure, and a pipe diameter adaptive mechanism.

[0003] Existing technologies involve injecting a robot into a pipeline via a bypass pipe or a pressurized tapping device. The robot then autonomously navigates to the inspection area, scans along a preset trajectory, and transmits data back in real time. The ground station generates a 3D defect map and a risk assessment report. However, when using battery power, the existing technology has limited battery capacity, making it difficult to meet the needs of long-term, long-distance inspection tasks. Frequent battery replacements reduce work efficiency. Existing technologies employ zero-floating cable technology with an integrated communication and power supply design, solving the problems of increased load and reduced travel distance associated with drag cable power supply. However, when a cable break or short circuit occurs, traditional drag cables can locate the fault point by segmenting the fault with a multimeter. In contrast, zero-floating cables, due to the integration of multiple circuits, significantly increase the inspection time, and require complete cable replacement for repair, resulting in higher costs. Utility Model Content

[0004] To overcome the above shortcomings, this utility model provides a defect detection robot for pressure pipelines operating without interrupting water supply. It aims to improve the existing technology where, when cables break or short-circuit, traditional drag cables can be used to locate the fault point by segmenting the cable with a multimeter, while zero-floating cables, due to the integration of multiple circuits, greatly increase the detection time and require the replacement of the entire cable during repair, resulting in high costs.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: a pressure pipeline defect detection robot under non-stop water supply conditions, comprising a sealing body, a propulsion mechanism installed on the right side of the sealing body for propulsing the sealing body, a cleaning mechanism installed on the right side of the sealing body for cleaning the inner wall of the pipeline, the propulsion mechanism comprising a paddle, the paddle being installed on the right side of the sealing body, five filter plates being equidistantly installed on the left side of the paddle, a fixing plate being fixedly connected to the middle of the left and right sides of the filter plates, a nut being slidably connected to the middle of the fixing plate, and a bolt being threadedly connected to the outer side of the nut, and a drive assembly being fixedly connected to the right side of the sealing body.

[0006] As a further description of the above technical solution:

[0007] The drive assembly includes a traction cable, which is installed in the lower right front part of the sealed body. One end of the traction cable is fixedly connected to a motor, the output end of the motor is fixedly connected to a rotating rod, and the outer left end of the motor is fixedly connected to a housing.

[0008] As a further description of the above technical solution:

[0009] The cleaning mechanism includes a rotating plate, which is installed in the middle right side of the sealing body. Water inlet holes are equidistantly opened at the front and rear ends of the outer side of the rotating plate. Fixed cylinders are fixedly connected to all four sides of the outer wall of the rotating plate. A fixed ring is fixedly connected to the middle outer side of the fixed cylinder. A spring is fixedly connected to the inner end of the fixed cylinder. Sliding grooves are opened on the left and right sides of the inner wall of the fixed cylinder. A fixed rod is fixedly connected to the top of the spring. A slider is fixedly connected to the left and right sides of the middle inner wall of the fixed rod. A base plate is fixedly connected to all four sides of the top of the fixed rod. Multiple steel wools are fixedly connected to the outer sides of the base plate at equal intervals.

[0010] As a further description of the above technical solution:

[0011] A bracket is fixedly connected to the outside of the sealing body, and a sensor is fixedly connected to the middle of the left end of the sealing body.

[0012] As a further description of the above technical solution:

[0013] Three sliding rods are equidistantly installed around the outer perimeter of the sealing body. A second slider is slidably connected to the outer side of each sliding rod, and the second slider is slidably connected to the sliding rod.

[0014] As a further description of the above technical solution:

[0015] The outer casing is fixedly connected to the nut, and a blade is fixedly connected to the outer side of the rotating rod.

[0016] As a further description of the above technical solution:

[0017] Spring 2 is installed on both the left and right ends of the outer side of the slide rod. Wheels are fixedly connected to the front, back and top sides of the slider 2. A rotating shaft is installed on the outer side of the slider 2.

[0018] As a further description of the above technical solution:

[0019] A second fixed ring is fixedly connected to the upper outer part of the first fixed ring, and the sliding groove is slidably connected to the first slider.

[0020] This utility model has the following beneficial effects:

[0021] 1. In this utility model, during pipeline inspection, the motor is started by a traction-type electric wire. The motor output shaft drives the rotating rod to rotate, causing the blades to make circular motion and push the sealing body forward in the pipeline. Water enters the outer shell through the filter plate. The filter plate intercepts impurities and prevents them from getting tangled in the blades. It is fixed by a fixing plate, nut and bolt, which makes it easy to disassemble and clean.

[0022] 2. In this utility model, the rotating rod drives the rotating plate to rotate, so that the fixed cylinder and the fixed ring rotate synchronously. The water flows to the blade through the water inlet and the gap of the fixed ring. The bottom plate and steel wool at the front end of the fixed cylinder can clean the impurities on the inner wall of the pipe. When the pipe diameter changes, the bottom plate is squeezed and adjusted by the spring and the fixed rod in the fixed cylinder. The sliding groove and the slider guide the fixed rod to adapt to pipes of different diameters and improve the range of equipment use. Attached Figure Description

[0023] Figure 1 This is a front view of a pressure pipeline defect detection robot under non-stop water supply conditions proposed in this utility model;

[0024] Figure 2 This is a three-dimensional view of a pressure pipeline defect detection robot under non-stop water supply conditions proposed in this utility model.

[0025] Figure 3 This is a side view of a pressure pipeline defect detection robot for non-stop water supply operation proposed in this utility model.

[0026] Figure 4 This is a partial structural schematic diagram of a pressure pipeline defect detection robot under non-stop water supply conditions proposed in this utility model.

[0027] Figure 5 This is a partial structural diagram of a pressure pipeline defect detection robot under non-stop water supply conditions proposed in this utility model;

[0028] Figure 6 This is a partial exploded view of the defect detection robot for pressure pipelines operating under non-stop water supply conditions proposed in this utility model.

[0029] Legend:

[0030] 1. Sealing body; 2. Propulsion mechanism; 201. Blade; 202. Filter plate; 203. Fixing plate; 204. Nut; 205. Bolt; 206. Drive assembly; 2061. Traction cable; 2062. Housing; 2063. Motor; 2064. Rotating rod; 3. Cleaning mechanism; 301. Rotating plate; 302. Water inlet; 303. Fixing cylinder; 304. Fixing ring one; 305. Base plate; 306. Steel wool; 307. Slide groove; 308. Spring one; 309. Slider one; 310. Fixing rod; 311. Fixing ring two; 4. Bracket; 5. Slide rod; 6. Spring two; 7. Slider two; 8. Wheel; 9. Sensor; 10. Rotating shaft. Detailed Implementation

[0031] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0032] Reference Figure 1 , Figure 3 and Figure 4 This utility model provides an embodiment of a pressure pipeline defect detection robot operating under non-stop water supply conditions, comprising a sealing body 1, a propulsion mechanism 2 installed on the right side of the sealing body 1 for propulsing the sealing body 1, and a cleaning mechanism 3 installed on the right side of the sealing body 1 for cleaning the inner wall of the pipeline. The propulsion mechanism 2 includes a paddle 201 installed on the right side of the sealing body 1, and five filter plates 202 equidistantly installed on the left side of the paddle 201. A fixing plate 203 is fixedly connected to the middle of both the left and right sides of the filter plates 202, and a nut 204 is slidably connected to the middle of the fixing plate 203. A bolt 205 is threadedly connected to the outer side of the nut 204. A drive assembly 206 is fixedly connected to the right side of the sealing body 1. The drive assembly 206 includes a traction cable 2061. The traction cable 2061 is installed in the lower middle part of the front right side of the sealing body 1. One end of the traction cable 2061 is fixedly connected to a motor 2063. The output end of the motor 2063 is fixedly connected to a rotating rod 2064. The outer left end of the motor 2063 is fixedly connected to a housing 2062. The housing 2062 is fixedly connected to a nut 204. The outer side of the rotating rod 2064 is fixedly connected to a blade 201. Springs 6 are installed on both the left and right ends of the outer side of the slide rod 5. Wheels 8 are fixedly connected to the front and rear sides and the top of the slider 7. A rotating shaft 10 is installed on the outer side of the slider 7.

[0033] Specifically, during pipeline inspection, the motor 2063 is powered by a traction cable 2061. After starting, the motor 2063 drives the rotating rod 2064 to rotate, causing the blade 201 fixed at the front end of the rotating rod 2064 to rotate accordingly. The rotation of the blade 201 generates thrust, propelling the sealing body 1 axially forward inside the pipeline. The wheel 8 installed at the bottom of the sealing body 1 contacts the inner wall of the pipeline, providing support during forward movement and ensuring the stability of the sealing body 1's center of gravity, preventing lateral shifting or swaying. The sliding rod 5, slider 7, and spring 6 on the outer side of the sealing body 1 form an elastic support. When the pipeline diameter decreases, the wheel 8 is radially compressed by the pipe wall, and the slider... The compression spring 27 and spring 26 are used to absorb the compressive force and adjust the radial extension range of the wheel 8, so that the device can adapt to pipe environments with different inner diameters. The fluid in the pipe enters the housing 2062 through the filter plate 202. The grid structure of the filter plate 202 forms a physical barrier, which can effectively intercept impurity particles with a diameter larger than the grid pore size, preventing them from entering the housing 2062 and wrapping around the blade 201, thereby preventing equipment failure caused by impurity accumulation. The filter plate 202 is detachably connected to the housing 2062 through the fixing plate 203, nut 204 and bolt 205. This design facilitates quick disassembly of the filter plate 202 for cleaning or replacement during equipment maintenance.

[0034] Reference Figure 2 , Figure 5 and Figure 6 The cleaning mechanism 3 includes a rotating plate 301, which is installed in the middle right side of the sealing body 1. Water inlet holes 302 are equidistantly opened at the front and rear ends of the outer side of the rotating plate 301. Fixed cylinders 303 are fixedly connected to the outer walls of the rotating plate 301. Fixed ring 304 is fixedly connected to the middle outer side of the fixed cylinder 303. Spring 308 is fixedly connected to the inner end of the fixed cylinder 303. Sliding grooves 307 are opened on the left and right sides of the inner wall of the fixed cylinder 303. Fixed rod 310 is fixedly connected to the top of spring 308. Sliding slider 309 is fixedly connected to the middle left and right sides of the inner wall of the fixed rod 310. Base plate 305 is fixedly connected to the top of the fixed rod 310. Multiple steel wool 306 are fixedly connected to the outer periphery of the base plate 305 at equal intervals. Fixed ring 311 is fixedly connected to the upper middle outer side of fixed ring 304. Sliding groove 307 and sliding slider 309 are slidably connected.

[0035] Specifically, the rotating plate 301 connected to the rotating rod 2064 rotates synchronously with the rotating rod 2064, driving the fixed cylinder 303, fixed ring one 304, and fixed ring two 311 to rotate around the axis of the rotating rod 2064 via mechanical transmission. When the fluid medium flows into the outer shell 2062 through the filter plate 202, some water flows through the annular gap between the water inlet 302 and the fixed ring to the area of ​​the blade 201, forming an auxiliary propulsion flow. The bottom plate 305 and steel wool 306 set on the fixed cylinder 303 contact the inner wall of the pipe during the device's forward movement. Maintaining contact, the system removes deposits and impurities adhering to the pipe wall through friction, preventing the accumulation of impurities from reducing the pipe's flow area. When the pipe's inner diameter changes, the base plate 305 is compressed, achieving adaptive adjustment through an elastic mechanism composed of a spring-308 and a fixed rod 310 inside the fixed cylinder 303. The slide groove 307 and the slider-309 form a guide, ensuring that the fixed rod 310 moves smoothly along the axial direction, so that the base plate 305 always maintains effective contact pressure with the pipe wall, thus achieving the function of cleaning the inner wall of pipes with different diameters.

[0036] Reference Figure 2 A bracket 4 is fixedly connected to the outside of the sealing body 1, a sensor 9 is fixedly connected to the middle of the left end of the sealing body 1, and three sliding rods 5 are equidistantly installed around the outside of the sealing body 1. A slider 7 is slidably connected to the outside of the sliding rods 5, and the slider 7 is slidably connected to the sliding rods 5.

[0037] Specifically, the outer side of the sealing body 1 has a fixed bracket 4, the left end has a sensor 9, and the outer side is connected to three sliding rods 5, which slide in cooperation with the slider 7.

[0038] Working principle: During pipeline inspection, the motor 2063 is started by connecting the power supply through the traction cable 2061. The output shaft of the motor 2063 drives the rotating rod 2064 to rotate, and the blade 201 fixed on the rotating rod 2064 rotates accordingly. The thrust of the blade 201 pushes the sealing body 1 forward in the pipeline. The wheel 8 installed on the sealing body 1 provides support during the forward movement. The balanced support of the wheel 8 prevents the sealing body 1 from swaying left and right. The outer side of the sealing body 1 is equipped with a sliding rod 5, a slider 7, and a spring 6. When the pipe diameter is small, the pipe wall will squeeze the wheel 8. The wheel 8 compresses the spring 6 through the slider 7, utilizing the spring 6... The extension range of the elastic adjustment wheel 8 of the 6 allows the device to adapt to pipe environments with different pipe diameters. Water in the pipe enters the outer shell 2062 through the filter plate 202. The mesh structure of the filter plate 202 can intercept impurities in the pipe, preventing impurities from entering the outer shell 2062 and getting entangled in the blade 201, which would cause equipment failure. The filter plate 202 is fixed to the outer shell 2062 by the fixing plate 203, nut 204 and bolt 205. This connection method facilitates the disassembly and cleaning of the filter plate 202. The sensor 9 installed in the sealing body 1 can monitor the sudden pressure drop, flow change or abnormal vibration signal in the pipe in real time, and quickly locate the pipe leak point through data analysis.

[0039] Rotating rod 2064 has a rotating plate 301. After motor 2063 starts, it drives rotating plate 301 to rotate. Rotating plate 301 drives fixed cylinder 303, fixed ring 1 304 and fixed ring 2 311 to rotate synchronously through connecting rod. When water flows into outer shell 2062 through filter plate 202, it flows to the blade 201 through the gap between water inlet 302 and fixed ring, forming a water flow power to assist in pushing the sealing body 1 forward. The bottom plate 305 and steel wool 306 on fixed cylinder 303 can clean impurities on the inner wall of the pipe during the movement of the device, preventing impurities from accumulating. When pipe blockage occurs and the pipe diameter changes, the base plate 305 is squeezed by the pipe wall. The spring 308 and the fixing rod 310 in the fixing cylinder 303 achieve adaptive adjustment. The elastic force of the spring 308 keeps the base plate 305 in contact with the pipe wall. The fixing rod 310 slides in the slide groove 307. The slider 309 guides the fixing rod 310 to prevent it from shifting during movement. This achieves automatic adjustment of the expansion range of the base plate 305, enabling the device to adapt to the cleaning needs of pipes with different diameters and improving the applicability of the equipment.

[0040] Finally, it should be noted that the above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Although the present utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A robot for detecting defects in a pressure pipeline in a no-water condition, comprising a sealing body (1), characterized in that: A propulsion mechanism (2) is installed on the right side of the sealing body (1), the propulsion mechanism (2) is used to propel the sealing body (1), and a cleaning mechanism (3) is installed on the right side of the sealing body (1), the cleaning mechanism (3) is used to clean the inner wall of the pipe; The propulsion mechanism (2) includes a blade (201), which is installed on the right side of the sealing body (1). Five filter plates (202) are equidistantly installed on the left side of the blade (201). A fixing plate (203) is fixedly connected to the middle of the left and right sides of the filter plates (202). A nut (204) is slidably connected to the middle of the fixing plate (203). A bolt (205) is threadedly connected to the outer side of the nut (204). A drive assembly (206) is fixedly connected to the right side of the sealing body (1).

2. The in-service condition pressure pipeline defect detection robot according to claim 1, characterized in that: The drive assembly (206) includes a traction cable (2061), which is installed in the lower middle part of the right front end of the sealing body (1). One end of the traction cable (2061) is fixedly connected to a motor (2063), and the output end of the motor (2063) is fixedly connected to a rotating rod (2064). The outer left end of the motor (2063) is fixedly connected to a housing (2062).

3. The in-service condition pressure pipeline defect detection robot according to claim 1, characterized in that: The cleaning mechanism (3) includes a rotating plate (301), which is installed on the right side of the sealing body (1). Water inlet holes (302) are provided at equal intervals on the front and rear ends of the outer side of the rotating plate (301). Fixed cylinders (303) are fixedly connected to the outer walls of the rotating plate (301). A fixed ring (304) is fixedly connected to the middle of the outer side of the fixed cylinder (303). A spring (308) is fixedly connected to the inner end of the fixed cylinder (303). Sliding grooves (307) are provided on the left and right sides of the inner wall of the fixed cylinder (303). A fixed rod (310) is fixedly connected to the top of the spring (308). A slider (309) is fixedly connected to the left and right sides of the middle of the inner wall of the fixed rod (310). A base plate (305) is fixedly connected to the top of the fixed rod (310). Multiple steel wool (306) are fixedly connected at equal intervals on the outer sides of the base plate (305).

4. The in-service condition pressure pipeline defect detection robot according to claim 1, characterized in that: A bracket (4) is fixedly connected to the outside of the sealing body (1), and a sensor (9) is fixedly connected to the middle of the left end of the sealing body (1).

5. The in-service condition pressure pipeline defect detection robot according to claim 1, characterized in that: Three slide rods (5) are equidistantly installed around the outer perimeter of the sealing body (1). A second slider (7) is slidably connected to the outer side of each slide rod (5). The second slider (7) is slidably connected to the slide rod (5).

6. The in-service condition pressure pipeline defect detection robot according to claim 2, characterized in that: The outer casing (2062) is fixedly connected to the nut (204), and a blade (201) is fixedly connected to the outer side of the rotating rod (2064).

7. The pressure pipeline defect detection robot under non-stop water supply conditions according to claim 5, characterized in that: Springs (6) are installed on the left and right sides of the outer side of the slide bar (5). Wheels (8) are fixedly connected to the front and rear sides and the top of the slider (7). A rotating shaft (10) is installed on the outer side of the slider (7).

8. The pressure pipeline defect detection robot under non-stop water supply conditions according to claim 3, characterized in that: A second fixing ring (311) is fixedly connected to the upper outer part of the first fixing ring (304), and the sliding groove (307) is slidably connected to the first slider (309).

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